Abstract: A handle assembly is provided for use in navigating a deformable shaft within a body. The assembly includes a first guide member defining first and second linear channels and a second guide member configured for rotation relative to the first guide member. First and second connectors are disposed within, and movable within, the first and second linear channels along first and second parallel axes, respectively, and are configured for coupling to first and second steering wires, respectively. The assembly includes means, such as a flexible coupling connected to the second guide member and the connectors, for translating rotation of the second guide member into linear movement of the first connector in a first axial direction and linear movement of the second connector in a second axial direction, opposite the first axial direction such that the first and second steering wires move in opposite directions.

Abstract: A steerable catheter has a body with an outer surface and an inner surface defining a central lumen. The outer surface and inner surface define a wall of the body, which has a plurality of steering lumen and control lumen extending longitudinally therethrough. The body includes a body material. The steering lumen and control lumen have a control lumen lining and steering lumen lining, respectively, with a higher durometer than the body material. A steering wire is positioned within the steering lumen and a control wire is positioned within the control lumen.

Abstract: A steerable catheter comprises a mobile tube and an intermediate tube, coaxial with each other, which extend from a proximal end to a distal end of the catheter and are telescopically mounted into each other with possibility of mutual rotation and axial translation. The mobile tube comprises a central lumen extending from the proximal end to the distal end. The intermediate tube comprises, along its whole length, a longitudinal notch radially offset in a direction of offset with respect to the axis of the steerable catheter and extending axially from the proximal end to the distal end. The longitudinal notch contains a cable adapted to undergo a traction exerted from the proximal end, the traction generating a bending of the steerable catheter directed towards the offset direction. The steerable catheter further comprises around the intermediate tube a sealed external sheath surrounding the intermediate tube over its periphery and covering the longitudinal notch over its length.

Abstract: An electrophysiology catheter has a distal electrode section having a generally-cylindrical, hollow housing body, a lumen and an opening in a sidewall. A flex circuit has a first portion supported on the outer surface the housing body, and a second portion that extends into the lumen via the opening for connection to cables and/or wires in the lumen. The flex circuit has a first and second magnetic field sensing coil traces generally perpendicular to each other and a magnetic field sensing coil wire generally perpendicular thereto is wound around the housing body to form an x/y/z position sensor. One or more ring electrodes are carried on the housing body, separated by ring spacers. A force sensor is mounted on a distal end of the housing body, with strain gauges electrically connected to the flex circuit. The housing is configured to provide a distal anchor for a puller tensile.

Abstract: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Abstract: A method of two-phase atherectomy for removal of plaque within an artery forming a stenosis including a first phase of rotational drilling by exerting a rotational force on a cutter to form a channel within the plaque having a diameter substantially equal to a diameter of the cutter—the cutter being rotated at a first rotational speed sufficient to maintain rotation of the cutter about a stationary rotational axis—and a second phase of orbital impact by exerting a rotational force on the cutter to result in radial orbital motion of the cutter within the channel resulting in periodic impact of the cutter upon the plaque to form micro-fractures within the plaque and enlarge the diameter of the channel to a diameter substantially greater than the diameter of the cutter—the cutter being rotated at a second rotational speed to result in the radial orbital motion of the cutter.

Abstract: A fluoroscopic surgical system employing a FORS sensor (40), a navigation controller (70), a fluoroscopic imager (30) and a mechanical connector (50) adjoined to the fluoroscopic imager (30). In operation, mechanical connector (50) is utilized to detachably attach FORS senor to fluoroscopic imager (30), whereby navigation controller (70) processes a shape reconstruction of FORS sensor (40) relative to a reference point fixed or movable within an operating space (20) for controlling a tracking of fluoroscopic imager (30) within the operating space (20). The system may further employ a surgical instrument (60) whereby, concurrently or subsequently to a fluoroscopic imaging of a patient anatomy, FORS sensor (40) is thereafter detached from fluoroscopic imager (30) and detachably attached to surgical instrument (60), or FORS sensor (40) is concurrently detachably attached to fluoroscopic imager (30) and surgical instrument (60).

Abstract: A modular surgical instrument is disclosed. The modular surgical instrument comprises a control interface, a shaft extending from the control interface, an end effector extending from said shaft, and a control circuit. The control circuit is configured to sense the electrical potential applied to the modular surgical instrument, determine if the sensed electrical potential is above a predetermined threshold, and adjust the operation of the modular surgical instrument when the sensed electrical potential exceeds the predetermined threshold.

Abstract: A steering assembly including a handle portion, the handle portion having a first screw with a first helical thread and a second screw with a second helical thread, the first and second threads being in opposite directions, and an actuator with an outer surface adapted to be actuated by a user, the actuator in operable communication with the first and second screws, wherein actuation of the actuator cause axial movement of the first screw in a first direction, and causes axial movement of the second screw in a second direction opposite the first direction.

Abstract: An endoscope apparatus includes alight source, a bendable insertion section to be inserted into an observation target, a light guide path which is provided in the insertion section and which guides light emitted from the light source, an illumination light emitter which is provided at the distal end of the insertion section and which emits at least some of the light guided by the light guide path to the observation target as illumination light, a curvature sensor which detects a bending shape of at least part of the insertion section, and an illumination light controller which controls an optical characteristic of the illumination light on the basis of the bending shape of the insertion section detected by the curvature sensor.

Abstract: Provided is a multiple-electrode monorail guide catheter for use in vascular insertion, including: an elongated catheter main body having a proximal end and a distal end; a guidewire inlet opening on the distal end; a guidewire outlet opening; an operation tube; a terminal unit on the proximal end; an electrode assembly having a double-lumen structure composed of an outer tube having electrodes on an outer surface of the outer tube and an inner tube independently provided from the outer tube, allowing insertion of a guidewire, having an outer diameter smaller than an inner diameter of the outer tube, and being accommodated within an outer tube lumen; a clearance defined by the outer tube luminal surface and an inner tube outer circumferential surface; and lead wires extending from the electrodes to the terminal unit on the proximal end and being inserted into the lumen of the outer tube.

Abstract: A method may include accessing an artery in communication with an ophthalmic artery of a subject, and advancing a microcatheter along the accessed artery so as to align a distal end of the microcatheter with an ostium of the ophthalmic artery, wherein the microcatheter includes a lumen having a guidewire positioned therein. In addition, the method includes proximally withdrawing the guidewire relative to the microcatheter so as to enable a distal portion of the microcatheter to assume a curved relaxed configuration, and cannulating the ostium with the distal portion of the microcatheter when the distal portion is in the curved relaxed configuration.

Abstract: A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.

Abstract: A hand-held catheter force control device includes an elongate base sized to be hand-held. The base defines a longitudinal axis between first and second opposing longitudinal ends. A linear actuator is mounted to the base to provide linear motion substantially parallel to the longitudinal axis of the base. A sheath clamp is coupled to the base. The sheath clamp is sized to fixedly capture a sheath handle. A catheter clamp is coupled to the linear actuator. The catheter clamp is sized to fixedly capture a catheter, and is aligned to be substantially co-axial with the sheath clamp. Systems and methods can incorporate the catheter force control device.

Abstract: A catheter for ablating tissue is provided. The catheter comprises an elongated generally-tubular catheter body having proximal and distal ends. An electrode assembly is provided at the distal end of the catheter body. The electrode assembly including a porous electrode arrangement that is generally transverse to the catheter body. The porous electrode arrangement comprises one or more electrodes electrically connected to a suitable energy source and a porous sleeve mounted in surrounding relation to the one or more electrodes and defining an open space between the porous sleeve and the one more electrodes. One or more irrigation openings fluidly connect the open space to a lumen extending through the catheter through which fluid can pass. In use, fluid passes through the lumen in the catheter, through the one or more irrigation openings, into the open space and through the porous sleeve.

Abstract: Disclosed herein are an adjustable-bending stiffness steerable needle, a buckling-preventing steerable needle, and a steerable needle system including the same. The adjustable-bending stiffness steerable needle includes a cylindrical core wire, a tip portion, a needle shaft, a compression spring, and a rigid shaft. The tip portion has a bevel shape, and is connected to the front end of the core wire. The needle shaft is disposed such that one end thereof is separable from the tip portion and the needle shaft surrounds the core wire. The compression spring is fastened to the other end of the needle shaft, and is configured such that the core wire passes therethrough. The rigid shaft is connected to the core wire having passed through the compression spring, and is also connected to the compression spring. The needle shaft includes a plurality of hollow tube elements that is separable from each other.

Abstract: A robotic catheter system includes a drive mechanism comprising a drive which interacts with a catheter device to cause the catheter device to move along its axis. An encoder assembly detects the motion of the catheter device by a magnetic interaction with the catheter device.

Abstract: The present invention is directed to a method and system for photoacoustic imaging for guiding medical procedures. A transducer is placed near the site of the procedure. The optical fiber, coupled to an electromagnetic source, such as a laser, is attached to a medical device. During the procedure, the device and optical fiber are inserted into the procedure site where the optical fiber illuminates the procedure site, which has a thickness of approximately 2 mm. Photoacoustic images are acquired to visualize the procedure site as the procedure is proceeding in order to provide real-time guidance. This system is applicable to multiple surgical and interventional procedures, such as transsphenoidal surgery.

Abstract: A master-slave same structure teleoperation fracture reduction mechanism includes a frame assembly, two parallel platform assemblies, a top platform connecting plate (9), an operating handle assembly, two fixing assemblies, a controller (15), six movement assemblies and 24 hydraulic pipes (26). The operating handle assembly is located in the middle of the upper platform (5), and the two fixing assemblies are located on the top of the parallel platform assembly. The two parallel platform assemblies are disposed on the frame assembly; the controller (15) and the six movement assemblies are disposed on the frame assembly; A top platform connecting plate (9) is connected to the fixing assembly parallel platform assembly. The hydraulic pipes (26) is in communication with motion hydraulic cylinders (7a) and the other end of the hydraulic pipes is in communication with one of platform hydraulic cylinders (7b). The invention assists a doctor to achieve fracture reduction.

Abstract: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Abstract: An instrument for a manipulator arm of an endoscopic robot is provided. The instrument has a treatment head for carrying out a medical measure in a patient, an instrument base carrying the treatment head, a coupling element that can be fastened to the manipulator arm, and a sterilizable sleeve enclosing the instrument and having at least one opening which can be sealingly placed on the instrument base. The coupling element protrudes from the opening.

Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

Abstract: Prosthetic heart valves described herein can be deployed using a transcatheter delivery system and technique to interface and anchor in cooperation with the anatomical structures of a native heart valve. Deployment systems and methods for using the deployment systems described herein facilitate accurately and conveniently controllable percutaneous, transcatheter techniques by which the prosthetic heart valves can be delivered and deployed within a patient.

Abstract: A catheterization device including a catheter, which has a deflectable steering end, and a control device for controlling the steering end. In order to limit operating forces of the catheterization device, the control device has an energy store, which is coupled in a force-transmitting manner to a force transmission element of the control device.

Abstract: A catheter assembly includes an elongated member having an ultrasonic beacon disposed adjacent to a distal end portion of the elongated member, a power supply releasably attachable adjacent to the proximal end of the elongated member, and a catheter. The distal end portion of the elongated member with the ultrasonic transmitter is inserted into an anatomical structure of the human body, and the ultrasonic transmitter is powered by the power supply. Using conventional medical ultrasonography equipment, a technician is able to observe and/or track on a display an image of the internal structure of the human body and an image such as an illuminated bright spot representing the energized ultrasonic beacon. After locating the elongated member, the power supply is removed, and the catheter is slid onto the elongated member to locate the catheter tip. Thereafter, the elongated member is removed.

Abstract: An operational feeling reproduction device includes an operation component, an actuator, and a drive shaft. The actuator generates a haptic drive force in response to operation of the operation component. The drive shaft couples the operation component and the actuator. The haptic drive force is transmitted to the operation component through the drive shaft in response to the operation of the operation component such that an actual operational feeling is experienced. The actuator has a stationary element and a movable element. The actuator generates the haptic drive force by a relative displacement while one of the stationary element and the movable element is inserted into the other one of the stationary element and the movable element. The movable element and the operation component are coupled by the drive shaft. Center axes of the stationary element, the movable element, and the drive shaft are provided on the same axis.

Abstract: A system for controlling the position of an articulated robotic arm in a robotic catheter procedure system, includes an articulated robotic arm, a first controller coupled to the articulated robotic arm and a patient table. The patient table includes a user interface and a second controller coupled to the user interface and the first controller. The second controller is programmed to generate a control signal in response to a user input received using the patient table user interface, the user input indicating a change in position of the patient table. The second controller is also programmed to transmit the control signal to the patient table and to transmit the control signal to the first controller.

Abstract: A catheter is provided, which includes a tube including a first portion, a second portion connected to the first portion and having a less rigidity than the first portion, and a plurality of holes longitudinally penetrating the first portion and the second portion and being isolated from one another, a wire passing through two of the plurality of holes of the tube, and a cap being engaged with an extrusion portion of the wire extruded from the two holes of the tube in a manner of enclosing the extrusion of the wire, being connected to one end of the tube, and having a greater rigidity than the first portion and the second portion of the tube.

Abstract: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: A medical apparatus includes a guidewire and a fixator catheter. The fixator catheter comprises a tubular body with a distal portion and a proximal portion, and further includes a distal opening, a fixator secured to the distal portion, and a body opening arranged between the fixator and the proximal portion. The guidewire passes through the body opening and the distal opening of the fixator catheter. The fixator is movable between a compact configuration and an expanded configuration and, in the expanded condition, is capable of anchoring the guidewire and fixator catheter in a lumen of a blood vessel.

Abstract: The catheter has a catheter body and a deflectable section with a flat deflection beam having a different deflection initiation location on each side of the beam to provide nonsymmetrical bi-directional deflection via a single continuous puller wire with two longer parallel segments connected by a U-bend segment anchored at a distal end of the beam. A spacer is provided on each side of the beam to guide and bind the respective puller wire segments and maintain a predetermined separation distance between the puller wire and the beam, including a neutral bending axis of the beam, for reducing the beam's bending moment. One or more heat shrinking tubes may surround the spacer and the beam to tightly constrain the puller wire to the beam.

Abstract: A medical device control handle or catheter includes deflection assembly and at least one of the following: a disk actuator, a lever actuator and a ring actuator for actuating additional puller wires in manipulation of multiple features of the medical device or catheter independently of each other. The disk actuator has a common rotational axis with but is rotationally independent of the deflection assembly. The lever actuator has a separate rotational axis. The ring is mounted outside of the control handle and rotatable relative to the control handle to actuate another puller wire for manipulating another feature of the catheter. Each of the disk, lever and ring actuators are of a design that allows existing control handles and catheters to be readily modified to include these actuators.

Abstract: An MRI-compatible tip assembly for an MRI-compatible medical device includes a first tubular member, a second tubular member, a ring electrode, and a tip electrode. The tip electrode proximal end is secured to the first tubular member distal end. The second tubular member distal end is inserted through the ring electrode and is secured to the first tubular member proximal end. When assembled, the tip assembly is a substantially rigid structure. Each tubular member has a recessed portion for a tracking coil.

Abstract: Various embodiments provide systems and methods for controlling a catheter with a catheter positioning device by using a remote controller and a guidewire control mechanism that may be used to draw a guidewire through a catheter coupled with the catheter positioning system. As the catheter is advanced over the guidewire by the catheter positioning device, the guidewire control mechanism may draw the guidewire away, such as collecting any slack on the guidewire. In further embodiments, the guidewire control mechanism may match the speed at which the guidewire is drawn to the speed at which the catheter advances and thereby maintain the position of the guidewire relative to the patient.

Abstract: An endoscope system includes an endoscope including an image pickup section that picks up an image of a subject lumen organ, a recording section that records three-dimensional image information of a lumen organ acquired from a medical diagnosis apparatus, a position estimating section that estimates a distal end position of the endoscope, a lumen-diameter acquiring section that acquires a lumen diameter of the organ in the estimated position of the distal end, a condition determining section that determines whether the acquired lumen diameter is smaller than the reference lumen diameter, an image-change-amount detecting section that detects a change amount of a predetermined parameter in an endoscopic image picked up by the image pickup section, a virtual-endoscopic-image generating section that generates a virtual endoscopic image from any visual point position, and an information recording section that records a position of a distal end of an insertion section and the virtual endoscopic image.

Abstract: A medical device may include a surgical instrument and a controller. The surgical instrument may include an end effector component configured to move from a first position to a second position and the controller may be operatively coupled to control movement of the end effector component. The controller may further be configured to command the end effector component to move from the first position toward the second position, and automatically oscillate the end effector component if the controller has not received a signal indicating the end effector has reached a preset location within a predetermined time period after the controller commands the end effector component to move from the first position toward the second position.

Abstract: A drive assembly for use in a robotic control and guidance system comprises a cartridge having an outer housing and a rotatable medical device assembly disposed therein. The rotatable assembly includes a medical device having proximal and distal ends, and a housing having first and second ends, and a longitudinal axis extending therethrough. The proximal end of the medical device is disposed within the housing, and the housing further comprises an opening through which the medical device extends outwardly from said housing. The rotatable assembly further comprises a drive interface coupled with the housing. The drive assembly further comprises a manipulation base comprising a mounting plate onto which the cartridge is removably attached, and a drive system mounted to the mounting plate. The drive system is configured to operatively engage the cartridge drive interface and to impart rotational movement onto the rotatable assembly through the drive interface.

Abstract: A robotic catheter system is provided. The robotic catheter system includes a housing and a drive assembly coupled to the housing. The drive assembly is configured to impart movement to a catheter device. The catheter system includes a release structure permitting the drive assembly to be decoupled and removed from the housing without removing the catheter device from a patient.

Abstract: A wearable robotic system assists a wearer in performing manual tasks. One or more robotic arms are mounted to a wearer, and an sensor monitors the orientation(s) (e.g., position and movement) of the wearer's upper body and one or both arms. A controller detects a task being performed by the wearer based on the orientation(s) as indicated by the orientation sensors. In response, the controller causes the robotic arm to perform an action independent of the orientation(s) of the wearer's arms and complementary to the task, thereby aiding the wearer to accomplish the detected task.

Abstract: A wire-driven robot includes pairs of arm parts including shoulder joints, elbow joints, and wrist joints to move with a motion of a wearer; a shoulder wire connected with the pair of shoulder joints; a shoulder driving unit applying a rotational force to the shoulder joints by winding or unwinding the shoulder wire in link with the motion of the wearer; an elbow wire connected with the pair of elbow joints; an elbow driving unit applying a rotational force to the elbow joints by winding or unwinding the elbow wire in link with the motion of the wearer; a wrist wire connected to the pair of wrist joints; and a wrist driving unit applying a rotational force to the wrist joints by winding or unwinding the wrist wire in link with the motion of the wearer.

Abstract: An insertion device of a coil includes a delivery wire driving unit, a secondary catheter driving unit, and a control circuit. A platinum coil for coil embolization is attached to the tip of a delivery wire. The delivery wire driving unit is provided in the proximity of the entrance of a Y connector such that the delivery wire is advanced and moved back. The secondary catheter driving unit is provided in the proximity of the entrance of a Y connector such that the secondary catheter is advanced and moved back. The control circuit controls the delivery wire driving unit so as to insert the delivery wire by a predetermined insertion force. If the delivery wire cannot be inserted, the control circuit controls the secondary catheter driving unit such that the secondary catheter is advanced after being moved back, and then controls the delivery wire driving unit so as to insert the delivery wire.

Abstract: A control system for a medical remote catheter guidance system includes an ECU, a computer-readable memory coupled to the ECU, and user interface (UI) logic stored in the memory configured to be executed by the ECU. The user interface logic receives input from a touch screen display with respect to a view of an anatomical model, associates a user type with the input, and interprets the input according to the associated user type and input. The user interface logic may be further configured to receive simultaneous inputs from at least two different users and to associate different user types with each of said simultaneous inputs. The user interface logic may associate each input with a user type according to a location of the input on the touch screen display.

Abstract: A probe for insertion into a living body includes a sheath configured to be inserted into a living body, and a shaft positioned in the sheath. The shaft includes a tip portion configured to obtain diagnostic data at a distal portion thereof. The sheath includes a resin layer or a metal layer of at least one layer, and wherein the resin layer or the metal layer includes a spiral-shaped slit which is continuous from a distal portion to a proximal portion. The spiral-shaped slit includes a distal slit portion having the highest slit density, a middle slit portion which is continuous with the distal slit portion and which also has a lower slit density than the distal slit portion, and a proximal slit portion which is continuous with the middle slit portion and which also has a higher slit density than the middle slit portion.

Abstract: Methods and devices that displace bone or other hard tissue to create a cavity in the tissue. Where such methods and devices rely on a driving mechanism for providing moving of the device to form a profile that improves displacement of the tissue. These methods and devices also allow for creating a path or cavity in bone for insertion of bone cement or other filler to treat a fracture or other condition in the bone. The features relating to the methods and devices described herein can be applied in any region of bone or hard tissue where the tissue or bone is displaced to define a bore or cavity instead of being extracted from the body such as during a drilling or ablation procedure.

Abstract: Medical devices including catheters for renal nerve ablation and/or modulation as well as methods for making and using such devices are disclosed. An example catheter may, have a proximal region and a distal region. The catheter may be configured to shift between a first straightened configuration and a second deflected configuration. The catheter may also include an ablation member coupled to the distal region and a handle coupled to the proximal region. The handle may include an actuation member for shifting the catheter between the first configuration and the second configuration. A lock may be coupled to the handle that maintains the catheter in either the first configuration or the second configuration.

Abstract: Interventional catheter assemblies that operate over a guide wire are disclosed. Specifically, an elongated flexible catheter is associated at its proximal end with a housing having a guide wire port where the guide wire exits the housing. The housing additionally incorporates a guide wire brake mounted within a slot positioned a distance from the guide wire port for engaging and releasing a guide wire. The slot is generally arranged at an angle to the path of the guide wire as it exits the guide wire port. When the guide wire is clamped in the angled slot, variable lengths of exposed guide wire accumulate in a substantially unrestrained condition when the flexible catheter is advanced and retracted relative to the guide wire, allowing movement of the distal end of the catheter over considerable distances without repositioning and re-clamping the proximal end of the guide wire.

Abstract: A sinusitis treatment device includes: a flexible first elongated body to be guided into an accessory; an imaging unit which is provided on the first elongated long body, for obtaining an image on the front side of a distal end of the first elongated body; a flexible second elongated body having a lumen in which the first elongated body is inserted; an expansive body which is provided on the second elongated body and which has an effective expansive section capable of radial expansive deformation within a natural ostium located between a nasal cavity and an accessory nasal cavity to push open a stenosed part of the natural ostium; and a positioning unit which is provided on the second elongated body, for positioning the effective expansive section of the second elongated long body moved along the first elongated body relative to the first elongated body.

Abstract: A propulsion apparatus for an endoscope includes a propulsion assembly for mounting on a tip device of the endoscope, for propulsion in a body cavity. First and second wire devices are disposed to extend from the tip device in a proximal direction, having a coil winding, for rotating to drive the propulsion assembly. First and second motors are connected with proximal ends of respectively the first and second wire devices, for rotating the first and second wire devices. A timer is actuated if a speed difference between rotational speeds of the first and second motors becomes equal to or more than a reference speed value, for measuring an elapsed time. A break detector detects breakage of the first wire device if the elapsed time becomes equal to or longer than a predetermined time. A controller controls the first and second motors in response to an output of the break detector.

Abstract: A therapeutic or diagnostic instrument includes first and second shaped wire members and that can be simultaneously inserted into a catheter tube and has predetermined bending elasticity, in which the first and second shaped wire members and are adapted to respectively have first and second curving parts that curve in a natural state, and when inserted into the catheter tube, curve the catheter tube at two desired positions correspondingly with the first and second curving parts.